Method for determining misalignment of a vehicular camera

ABSTRACT

A method for determining misalignment of a vehicular camera and calibrating the misaligned camera includes providing a plurality of cameras at a vehicle and providing a control having an electronic control unit that includes a processor for processing image data captured by the plurality of cameras. Frames of image data captured by the plurality of cameras are processed to determine objects present in the field of view of at least one of the cameras. Responsive to processing vehicle data during driving of the vehicle, a vehicle motion vector is determined. Movement of an object relative to the vehicle is determined via processing of at least two frames of captured image data during driving of the vehicle. Responsive to determination of a difference between the relative movement of the object and the vehicle motion vector, misalignment of a misaligned camera is determined, and calibration of the misaligned camera is adjusted.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/644,987, filed Jul. 10, 2017, now U.S. Pat. No. 10,266,115,which is a continuation of U.S. patent application Ser. No. 14/960,834,filed Dec. 7, 2015, now U.S. Pat. No. 9,701,246, which is a continuationof U.S. patent application Ser. No. 14/282,029, filed May 20, 2014, nowU.S. Pat. No. 9,205,776, which claims the filing benefits of U.S.provisional application Ser. No. 61/825,753, filed May 21, 2013, whichis hereby incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras (such as one or more CMOScameras) to capture image data representative of images exterior of thevehicle, and determines a kinematic model of motion of the vehicle asthe vehicle is driven along any path or route. The system determines thekinematic model based on inputs indicative of the vehicle steering angleand/or vehicle speed and/or vehicle geometries.

The cameras (such as one or more CMOS cameras) capture image datarepresentative of images exterior of the vehicle, and provide thecommunication/data signals, including camera data or captured imagedata, that may be displayed at a display screen that is viewable by thedriver of the vehicle, such as when the driver is backing up thevehicle, and that may be processed and, responsive to such imageprocessing, the system may detect an object at or near the vehicle andin the path of travel of the vehicle, such as when the vehicle isbacking up. The vision system may be operable to display a surround viewor bird's eye view of the environment at or around or at least partiallysurrounding the subject or equipped vehicle, and the displayed image mayinclude a displayed image representation of the subject vehicle.

According to an aspect of the present invention, a vision system of avehicle includes at least one camera (such as a camera comprising a twodimensional array of photosensing pixels) disposed at the vehicle andhaving a field of view exterior of the vehicle (and may include aplurality of cameras, each having a respective field of view exterior ofthe vehicle, such as rearward, sideward and/or forward of the vehicle).The camera is operable to capture frames of image data. Responsive toimage processing by an image processor of captured image data, a controlis operable to determine objects present in the field of view of thecamera. Responsive to vehicle data (such as steering information of thevehicle, speed of the vehicle and/or distance traveled by the vehicle orthe like), the control determines a vehicle motion vector during drivingof the vehicle by a driver of the vehicle. The control determinesmovement of an object (present in the field of view of the at least onecamera) relative to the vehicle via image processing of at least twoframes of captured image data during driving of the vehicle by thedriver of the vehicle. The control compares the determined relativemovement of the object to the determined vehicle motion vector, andresponsive to the comparison, the control may determine a misalignmentof the camera.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a schematic showing the coordinate system and angles used torepresent the travel of the vehicle;

FIG. 3 is a schematic and block diagram of the system of the presentinvention; and

FIG. 4 is a model of the kinematic equations of the system of thepresent invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 d at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1). The vision system 12 includes a control or electroniccontrol unit (ECU) or processor 18 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). Thecameras operate to capture frames of image data at a desired or selectedframe rate, such as, for example, about 30 frames per second or more orless. The data transfer or signal communication from the camera to theECU may comprise any suitable data or communication link, such as avehicle network bus or the like of the equipped vehicle.

The kinematic model of the present invention generates a Motion VectorV_(1N)=(x_(1N), y_(1N), ψ_(1N)) of a moving vehicle between frame 1 andframe N, where x_(1N) and y_(1N) (mm) are the translational componentsof V and ψ_(1N) (degrees) is the heading angle of the vehicle. Nospecific vehicle motion is required, whereby the Motion Vectorestimation is performed as the vehicle navigates along an arbitrarypath.

The Kinematic Model of the present invention uses a “Bicycle Model” torepresent the vehicle motion, and determines or computes elementaryvectors V_(ij)=(x_(ij), y_(ij), ψ_(ij)) for each pair of frames i and j.The resulting motion vector is composed of elementary vectors.

The Kinematic Model of the present invention does not use any imageinformation, and the inputs of the Kinematic Model include vehicle CANbus data and vehicle geometry.

The kinematic model of the present invention develops numericalrelations between wheel steering angles, wheel pulses, heading angleψ_(ij) and translational vehicle motion x_(ij), y_(ij) between frames iand j. The system is operable to approximate the vehicle Kinematic Modelby use of a bicycle kinematic model, where two front (and rear) wheelscoincide (see, for example, FIG. 2). Experiments show that vehiclemotion (such as four wheel vehicles, such as cars, vans, SUVs, trucksand/or the like) can be accurately described by such a bicycle kinematicmodel.

The Kinematic Model of the present invention provides a model of vehiclemotion between frames, based on one or more system inputs. The system isoperable to estimate a vector V_(ij)=(x_(ij), y_(ij), ψ_(ij)) of vehiclemotion between image frames i and j. The inputs may provide input data,such as, for example, CAN bus vehicle motion data, such as, for example,the steering wheel angle and wheel pulse clicks and/or the like (seeFIG. 3).

The kinematic modeling system of the present invention uses lateralvehicle dynamics and wheel pulse counters, and develops numericalrelations between the wheel steering angles, the heading angle and thetranslational vehicle motion. The system uses the assumption that themotion of the vehicle can be accurately described by a Bicycle Model,where the two front and two rear wheels coincide (see FIG. 4).

The system of the present invention thus may determine a model of themotion or path of the vehicle responsive to vehicle system inputs, suchas inputs from or indicative of the vehicle steering wheel angle and/orvehicle speed and/or the like. The system may utilize the motion modelfor camera calibration systems and/or the like, such as for a cameracalibration system of the types described in U.S. patent applicationSer. No. 14/282,028, filed May 20, 2014 and published Nov. 27, 2014 asU.S. Publication No. US-2014-0347486, and U.S. provisional applications,Ser. No. 61/878,877, filed Sep. 17, 2013, and Ser. No. 61/825,752, filedMay 21, 2013, which are hereby incorporated herein by reference in theirentireties.

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011and published Jun. 28, 2012 as U.S. Publication No. US-2012-0162427,which are hereby incorporated herein by reference in their entireties.

In multi-camera surround view systems, maintaining calibration of thecameras is important. For example, a camera located at the outsidemirror should be calibrated along with a camera located at the front orrear of the vehicle, so that the overlapping portions of the capturedimages can be properly stitched together to provide a substantiallyseamless top view or surround view display. Prior calibration methodsare known, such as described in U.S. Pat. No. 7,720,580, which is herebyincorporated herein by reference in its entirety.

In accordance with the present invention, a vehicle data-based kinematicmodel of the equipped vehicle is determined as that vehicle travels aparticular road or route, using vehicle data, such as including vehiclesteering information, vehicle speed information, vehicle distanceinformation and/or the like. Such vehicle data is supplied to a control(typically vehicle a CAN or LIN bus of the vehicle), which determines orestablishes a vehicle-based motion vector for the vehicle at any giventime and location along the driven route. In parallel (such as at thesame time as the kinematic model is being determined), an image-basedmotion vector of that moving vehicle may be determined, based on changeor movement of an imaged object between a first frame and a following orsubsequent second frame.

In a properly calibrated system, movement of the equipped vehicle andobjects in the field of view of the camera as determined via imageprocessing of captured image data should coincide with and be the sameas movement of the vehicle determined and predicted via the vehicle databased kinematic model. In other words, the kinematic model can be usedto determine how an object present in the field of view of the cameramay move relative to the vehicle as the vehicle is driven, and when thecamera is properly calibrated, the location and movement of the objectas determined via image processing of subsequent frames of capturedimage data should coincide with the predicted location and movement ofthe object as determined via use of the kinematic model. However, if aparticular camera capturing image data processed in the first and secondframes of captured image data is no longer properly calibrated, themotion of the object predicted by use of the vehicle kinematic vectordetermined by the vehicle data based kinematic model will be differentthan the relative motion of the object in the field of view of themisaligned camera as captured over two or more frames of image data.Thus, the control can determine and utilize this determined differenceto establish or determine that an out of calibration condition of thesubject vehicle camera exists. Responsive to such a determination, thesystem may adjust the camera calibration accordingly to bring the camerainto calibration so as to have the location and relative movement ofdetected objects coincide with the predicted location and movement basedon the actual kinematic/orientation of the equipped vehicle.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO2013/123161; WO 2013/126715; WO 2013/043661 and/or WO 2013/158592, whichare all hereby incorporated herein by reference in their entireties. Thesystem may communicate with other communication systems via any suitablemeans, such as by utilizing aspects of the systems described inInternational Publication Nos. WO 2010/144900; WO 2013/043661 and/or WO2013/081985, and/or U.S. patent application Ser. No. 13/202,005, filedAug. 17, 2011 and published Mar. 15, 2012 as U.S. Publication No.US-2012-0062743, which are hereby incorporated herein by reference intheir entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A method for determining misalignment of avehicular camera and calibrating the misaligned camera, said methodcomprising: providing a plurality of cameras at a vehicle so that eachcamera of the plurality of cameras has a respective field of viewexterior of the vehicle; wherein the plurality of cameras comprises (i)a rear camera disposed at a rear portion of the vehicle and having atleast a rearward field of view, (ii) a driver-side camera disposed at adriver side of the vehicle and having at least a sideward and rearwardfield of view, (iii) a passenger-side camera disposed at a passengerside of the vehicle and having at least a sideward and rearward field ofview and (iv) a front camera disposed at a front portion of the vehicleand having at least a forward field of view; wherein each camera of theplurality of cameras comprises a two dimensional array of a plurality ofphotosensing elements; providing a control comprising an electroniccontrol unit, the electronic control unit comprising an image processorfor processing image data captured by the plurality of cameras;capturing frames of image data via the plurality of cameras; providingcaptured frames of image data to the electronic control unit; processingat the electronic control unit frames of image data captured by theplurality of cameras and provided to the electronic control unit;responsive to processing at the electronic control unit of frames ofcaptured image data, determining, via the control, objects present inthe field of view of at least one of the plurality of cameras; receivingvehicle data at the electronic control unit via a communication bus ofthe vehicle; wherein the vehicle data comprises speed of the vehicle andat least two selected from the group consisting of (i) steeringinformation of the vehicle, (ii) vehicle geometry of the vehicle and(iii) distance traveled by the vehicle; responsive to processing at theelectronic control unit of received vehicle data during driving of thevehicle by a driver of the vehicle, determining, via the control, avehicle motion vector during driving of the vehicle by the driver of thevehicle; determining, via the control, movement of a detected objectrelative to the vehicle via processing at the electronic control unit ofat least two frames of image data captured by the plurality of camerasduring driving of the vehicle by the driver of the vehicle; comparing,via the control, the determined relative movement of the detected objectto the determined vehicle motion vector; responsive to a differencebetween the determined relative movement of the detected object and thedetermined vehicle motion vector, determining via the controlmisalignment of a misaligned camera of the plurality of cameras; andresponsive at least in part to determination of misalignment of themisaligned camera, adjusting via the control calibration of themisaligned camera so as to have location and relative movement of thedetected object based on processing of captured frames of image datacoincide with predicted location and movement of the detected objectbased on actual motion of the vehicle.
 2. The method of claim 1,comprising communicating the vehicle data to the control via a CANcommunication bus of the vehicle.
 3. The method of claim 1, comprisingusing a kinematic model comprising a bicycle model to represent vehiclemotion, and wherein the kinematic model utilizes translational vehiclemotion.
 4. The method of claim 3, wherein the kinematic model utilizesat least one selected from the group consisting of (i) wheel steeringangle and (ii) wheel pulse count.
 5. The method of claim 3, wherein thekinematic model utilizes wheel steering angle and wheel pulse count. 6.The method of claim 3, wherein the kinematic model utilizes lateralvehicle dynamics to develop numerical relations between wheel steeringangle of the vehicle, vehicle heading angle and translational vehiclemotion.
 7. The method of claim 3, wherein the kinematic model utilizeswheel pulse counts to develop numerical relations between wheel steeringangle of the vehicle, vehicle heading angle and translational vehiclemotion.
 8. The method of claim 3, wherein the kinematic model utilizes(i) steering angle of a front wheel of the vehicle and (ii) steeringangle of a rear wheel of the vehicle.
 9. The method of claim 3, whereinthe kinematic model utilizes center of gravity of the vehicle.
 10. Themethod of claim 3, wherein the kinematic model utilizes lateral velocityof the vehicle.
 11. The method of claim 1, wherein comparing thedetermined relative movement of the detected object to the determinedvehicle motion vector comprises comparing the determined vehicle motionvector to an object vector determined between a first position of thedetected object in a first frame of captured image data and a secondposition of the detected object in a second frame of captured imagedata.
 12. The method of claim 11, wherein determining misalignment ofthe misaligned camera is at least in part responsive to a differencebetween direction of the determined vehicle motion vector and directionof the determined object vector.
 13. The method of claim 12, whereindetermining misalignment of the misaligned camera is at least in partresponsive to a difference between magnitude of the determined vehiclemotion vector and magnitude of the determined object vector.
 14. Themethod of claim 1, wherein image data captured by at least some of theplurality of cameras is used for a surround view system of the vehicle.15. The method of claim 1, wherein the driver-side camera is disposed ata driver-side outside rearview mirror assembly of the vehicle, andwherein the passenger-side camera is disposed at a passenger sideoutside rearview mirror assembly of the vehicle.
 16. The method of claim1, wherein each of the plurality of cameras comprises a CMOS camera. 17.A method for determining misalignment of a vehicular camera andcalibrating the misaligned camera, said method comprising: providing aplurality of cameras at a vehicle so that each camera of the pluralityof cameras has a respective field of view exterior of the vehicle;wherein the plurality of cameras comprises (i) a rear camera disposed ata rear portion of the vehicle and having at least a rearward field ofview, (ii) a driver-side camera disposed at a driver side of the vehicleand having at least a sideward and rearward field of view, (iii) apassenger-side camera disposed at a passenger side of the vehicle andhaving at least a sideward and rearward field of view and (iv) a frontcamera disposed at a front portion of the vehicle and having at least aforward field of view; wherein each camera of the plurality of camerascomprises a two dimensional array of a plurality of photosensingelements; providing a control comprising an electronic control unit, theelectronic control unit comprising an image processor for processingimage data captured by the plurality of cameras; capturing frames ofimage data via the plurality of cameras; providing captured frames ofimage data to the electronic control unit; processing at the electroniccontrol unit frames of image data captured by the plurality of camerasand provided to the electronic control unit; responsive to processing atthe electronic control unit of frames of captured image data,determining, via the control, objects present in the field of view of atleast one of the plurality of cameras; communicating vehicle data to theelectronic control unit via a CAN communication bus of the vehicle;receiving the vehicle data at the electronic control unit via the CANcommunication bus of the vehicle; wherein the vehicle data comprisesspeed of the vehicle and at least two selected from the group consistingof (i) steering information of the vehicle, (ii) vehicle geometry of thevehicle and (iii) distance traveled by the vehicle; responsive toprocessing at the electronic control unit of received vehicle dataduring driving of the vehicle by a driver of the vehicle, determining,via the control, a vehicle motion vector during driving of the vehicleby the driver of the vehicle; determining, via the control, movement ofdetected object relative to the vehicle via processing at the electroniccontrol unit of at least two frames of image data captured by theplurality of cameras during driving of the vehicle by the driver of thevehicle; comparing, via the control, the determined relative movement ofthe detected object to the determined vehicle motion vector; whereincomparing the determined relative movement of the detected object to thedetermined vehicle motion vector comprises comparing the determinedvehicle motion vector to an object vector determined between a firstposition of the detected object in a first frame of captured image dataand a second position of the detected object in a second frame ofcaptured image data; responsive to a difference between the determinedrelative movement of the detected object and the determined vehiclemotion vector, determining via the control misalignment of a misalignedcamera of the plurality of cameras; and responsive at least in part todetermination of misalignment of the misaligned camera, adjusting viathe control calibration of the misaligned camera so as to have locationand relative movement of the detected object based on processing ofcaptured frames of image data coincide with predicted location andmovement of the detected object based on actual motion of the vehicle.18. The method of claim 17, wherein determining misalignment of themisaligned camera is at least in part responsive to a difference betweendirection of the determined vehicle motion vector and direction of thedetermined object vector.
 19. The method of claim 18, whereindetermining misalignment of the misaligned camera is at least in partresponsive to a difference between magnitude of the determined vehiclemotion vector and magnitude of the determined object vector.
 20. Amethod for determining misalignment of a vehicular camera andcalibrating the misaligned camera, said method comprising: providing aplurality of cameras at a vehicle so that each camera of the pluralityof cameras has a respective field of view exterior of the vehicle;wherein the plurality of cameras comprises (i) a rear camera disposed ata rear portion of the vehicle and having at least a rearward field ofview, (ii) a driver-side camera disposed at a driver side of the vehicleand having at least a sideward and rearward field of view, (iii) apassenger-side camera disposed at a passenger side of the vehicle andhaving at least a sideward and rearward field of view and (iv) a frontcamera disposed at a front portion of the vehicle and having at least aforward field of view; wherein each camera of the plurality of camerascomprises a two dimensional array of a plurality of photosensingelements; providing a control comprising an electronic control unit, theelectronic control unit comprising an image processor for processingimage data captured by the plurality of cameras; capturing frames ofimage data via the plurality of cameras; providing captured frames ofimage data to the electronic control unit; processing at the electroniccontrol unit frames of image data captured by the plurality of camerasand provided to the electronic control unit; responsive to processing atthe electronic control unit of frames of captured image data,determining, via the control, objects present in the field of view of atleast one of the plurality of cameras; receiving vehicle data at theelectronic control unit via a communication bus of the vehicle; whereinthe vehicle data comprises speed of the vehicle and at least twoselected from the group consisting of (i) steering information of thevehicle, (ii) vehicle geometry of the vehicle and (iii) distancetraveled by the vehicle; responsive to processing at the electroniccontrol unit of received vehicle data during driving of the vehicle by adriver of the vehicle, determining, via the control, a vehicle motionvector during driving of the vehicle by the driver of the vehicle;wherein determining the vehicle motion vector is based at least in parton a kinematic model that represents vehicle motion, and wherein thekinematic model utilizes translational vehicle motion; determining, viathe control, movement of detected object relative to the vehicle viaprocessing at the electronic control unit of at least two frames ofimage data captured by the plurality of cameras during driving of thevehicle by the driver of the vehicle; comparing, via the control, thedetermined relative movement of the detected object to the determinedvehicle motion vector; wherein comparing the determined relativemovement of the detected object to the determined vehicle motion vectorcomprises comparing the determined vehicle motion vector to an objectvector determined between a first position of the detected object in afirst frame of captured image data and a second position of the detectedobject in a second frame of captured image data; responsive to adifference between the determined relative movement of the detectedobject and the determined vehicle motion vector, determining via thecontrol misalignment of a misaligned camera of the plurality of cameras;and responsive at least in part to determination of misalignment of themisaligned camera, adjusting via the control calibration of themisaligned camera so as to have location and relative movement of thedetected object based on processing of captured frames of image datacoincide with predicted location and movement of the detected objectbased on actual motion of the vehicle.
 21. The method of claim 20,wherein the kinematic model utilizes at least one selected from thegroup consisting of (i) wheel steering angle and (ii) wheel pulse count.22. The method of claim 20, wherein determining misalignment of themisaligned camera is at least in part responsive to a difference betweendirection of the determined vehicle motion vector and direction of thedetermined object vector.
 23. The method of claim 22, whereindetermining misalignment of the misaligned camera is at least in partresponsive to a difference between magnitude of the determined vehiclemotion vector and magnitude of the determined object vector.